Robotic Router Formation in Realistic Communication Environments - A Bit Error Rate Approach

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In this paper, the authors consider the problem of robotic router formation, where two nodes need to maintain their connectivity over a large area, by using a number of mobile routers. They are interested in the robust operation of such networks in realistic communication environments that naturally experience path loss, shadowing and multipath fading. They propose a probabilistic router formation and motion planning approach, by integrating their previously-proposed stochastic channel learning framework with robotic router optimization. They furthermore consider power constraints of the network, including both communication and motion costs, and characterize the underlying tradeoffs.